# Send Pywayne Visualization Pangolin Utils to your agent Hand the extracted package to your coding agent with a concrete install brief instead of figuring it out manually. ## Fast path - Download the package from Yavira. - Extract it into a folder your agent can access. - Paste one of the prompts below and point your agent at the extracted folder. ## Suggested prompts ### New install ```text I downloaded a skill package from Yavira. Read SKILL.md from the extracted folder and install it by following the included instructions. Tell me what you changed and call out any manual steps you could not complete. ``` ### Upgrade existing ```text I downloaded an updated skill package from Yavira. Read SKILL.md from the extracted folder, compare it with my current installation, and upgrade it while preserving any custom configuration unless the package docs explicitly say otherwise. Summarize what changed and any follow-up checks I should run. ``` ## Machine-readable fields ```json { "schemaVersion": "1.0", "item": { "slug": "pangolin-utils", "name": "Pywayne Visualization Pangolin Utils", "source": "tencent", "type": "skill", "category": "开发工具", "sourceUrl": "https://clawhub.ai/wangyendt/pangolin-utils", "canonicalUrl": "https://clawhub.ai/wangyendt/pangolin-utils", "targetPlatform": "OpenClaw" }, "install": { "downloadUrl": "/downloads/pangolin-utils", "sourceDownloadUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=pangolin-utils", "sourcePlatform": "tencent", "targetPlatform": "OpenClaw", "packageFormat": "ZIP package", "primaryDoc": "SKILL.md", "includedAssets": [ "SKILL.md" ], "downloadMode": "redirect", "sourceHealth": { "source": "tencent", "slug": "pangolin-utils", "status": "healthy", "reason": "direct_download_ok", "recommendedAction": "download", "checkedAt": "2026-05-07T16:09:35.082Z", "expiresAt": "2026-05-14T16:09:35.082Z", "httpStatus": 200, "finalUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=pangolin-utils", "contentType": "application/zip", "probeMethod": "head", "details": { "probeUrl": "https://wry-manatee-359.convex.site/api/v1/download?slug=pangolin-utils", "contentDisposition": "attachment; filename=\"pangolin-utils-0.1.0.zip\"", "redirectLocation": null, "bodySnippet": null, "slug": "pangolin-utils" }, "scope": "item", "summary": "Item download looks usable.", "detail": "Yavira can redirect you to the upstream package for this item.", "primaryActionLabel": "Download for OpenClaw", "primaryActionHref": "/downloads/pangolin-utils" }, "validation": { "installChecklist": [ "Use the Yavira download entry.", "Review SKILL.md after the package is downloaded.", "Confirm the extracted package contains the expected setup assets." ], "postInstallChecks": [ "Confirm the extracted package includes the expected docs or setup files.", "Validate the skill or prompts are available in your target agent workspace.", "Capture any manual follow-up steps the agent could not complete." ] } }, "links": { "detailUrl": "https://openagent3.xyz/skills/pangolin-utils", "downloadUrl": "https://openagent3.xyz/downloads/pangolin-utils", "agentUrl": "https://openagent3.xyz/skills/pangolin-utils/agent", "manifestUrl": "https://openagent3.xyz/skills/pangolin-utils/agent.json", "briefUrl": "https://openagent3.xyz/skills/pangolin-utils/agent.md" } } ``` ## Documentation ### Pywayne Visualization Pangolin Utils pywayne.visualization.pangolin_utils.PangolinViewer provides a Python interface to Pangolin 3D visualization library. ### Quick Start from pywayne.visualization.pangolin_utils import PangolinViewer, Colors import numpy as np # Create viewer viewer = PangolinViewer(800, 600) viewer.init() # Run visualization loop while viewer.should_not_quit(): # ... add/update visual elements ... viewer.show(delay_time_in_s=0.03) viewer.join() # Wait for window to close ### Colors Use Colors class for common colors: Colors.RED # [1.0, 0.0, 0.0] Colors.GREEN # [0.0, 1.0, 0.0] Colors.BLUE # [0.0, 0.0, 1.0] Colors.YELLOW # [1.0, 1.0, 0.0] Colors.CYAN # [0.0, 1.0, 1.0] Colors.MAGENTA # [1.0, 0.0, 1.0] Colors.WHITE # [1.0, 1.0, 1.0] Colors.BLACK # [0.0, 0.0, 0.0] Colors.ORANGE # [1.0, 0.5, 0.0] Colors.PURPLE # [0.5, 0.5, 0.5] Colors.GRAY # [0.5, 0.5, 0.5] Colors.BROWN # [0.6, 0.3, 0.1] Colors.PINK # [1.0, 0.75, 0.8] ### Core Control viewer.run() # Start main loop (blocking) viewer.close() # Close viewer viewer.join() # Wait for process to end viewer.reset() # Reset viewer state viewer.init() # Initialize view (set initial camera) viewer.show(0.03) # Render frame with delay (s) viewer.should_not_quit() # Check if viewer should continue viewer.clear_all_visual_elements() # Clear all elements ### Point Cloud # Clear all points viewer.clear_all_points() # Add single-color points (default: red) viewer.add_points(points, point_size=4.0) # Add points with custom colors viewer.add_points_with_colors(points, colors, point_size=4.0) # Add points with named color viewer.add_points_with_color_name(points, color_name="red", point_size=4.0) # Data format: points (N, 3), colors (N, 3) ### Trajectory # Clear all trajectories viewer.clear_all_trajectories() # Add trajectory with quaternions (positions + orientations) viewer.add_trajectory_quat( positions, # (N, 3) orientations, # (N, 4) or (N, 7) depending on quat_format color=Colors.GREEN, quat_format="wxyz", # "wxyz" or "xyzw" line_width=2.0, show_cameras=True, # Show camera models along trajectory camera_size=0.05 ) # Add trajectory with SE3 poses viewer.add_trajectory_se3( poses_se3, # (N, 4) or (N, 7) color=Colors.GREEN, line_width=2.0, show_cameras=False ) ### Camera # Clear all cameras viewer.clear_all_cameras() # Set main camera (view follows this camera) viewer.set_main_camera(camera_id) # Add camera with quaternion cam_id = viewer.add_camera_quat( position, # (3,) orientation, # (4,) or (7) depending on quat_format color=Colors.YELLOW, quat_format="wxyz", scale=0.1, line_width=1.0 ) # Add camera with SE3 pose cam_id = viewer.add_camera_se3( pose_se3, # (4,) or (7) color=Colors.YELLOW, scale=0.1, line_width=1.0 ) ### Plane # Clear all planes viewer.clear_all_planes() # Add plane by vertices viewer.add_plane( vertices, # (>=3, 3) color=Colors.GRAY, alpha=0.5, # Transparency 0-1 label="plane" ) # Add plane by normal + center viewer.add_plane_normal_center( normal, # (3,) - direction of plane normal center, # (3,) - center point size, # half-size (distance from center to edge) color=Colors.GRAY, alpha=0.5, label="plane" ) # Add plane from SE3 transformation viewer.add_plane_from_Twp( Twp, # (4, 4) - world pose matrix size=1.0, color=Colors.GREEN, alpha=0.5, label="plane" ) ### Chessboard Useful for camera calibration and spatial reference: # Add chessboard on XY plane viewer.add_chessboard(rows=8, cols=8, cell_size=0.1) # Add chessboard on custom plane with normal viewer.add_chessboard( rows=9, cols=6, cell_size=0.025, origin=np.array([0, 0, 0]), normal=np.array([1, 0, 0]), # YZ plane color1=Colors.RED, color2=Colors.YELLOW, alpha=0.8 ) # Add chessboard from SE3 transformation viewer.add_chessboard_from_Twp( rows=9, cols=6, cell_size=0.025, Twp=pose_matrix, color1=Colors.BLACK, color2=Colors.WHITE, alpha=0.8, label="calib" ) ### Line viewer.clear_all_lines() viewer.add_line( start_point, # (3,) end_point, # (3,) color=Colors.WHITE, line_width=1.0 ) ### Image Display # Set image resolution viewer.set_img_resolution(width, height) # Add left image viewer.add_image_1(img_array) # Use numpy array viewer.add_image_1(image_path="path.jpg") # Use file path # Add right image viewer.add_image_2(img_array) viewer.add_image_2(image_path="path.jpg") ### Step Mode (Debugging) viewer.is_step_mode_active() # Check if step mode is active viewer.wait_for_step() # Wait for step trigger ### Important Notes Dependencies: Requires Pangolin library (auto-downloaded via gettool) Data types: All position/point inputs must be float32 Quaternion formats: Support wxyz and xyzw formats SE3 poses: Support (4, 4) or (4, 7) matrix formats Automatic cleaning: clear_all_visual_elements() clears points, trajectories, cameras, planes, lines Camera following: Use set_main_camera() with camera ID from add_camera_*() return ## Trust - Source: tencent - Verification: Indexed source record - Publisher: wangyendt - Version: 0.1.0 ## Source health - Status: healthy - Item download looks usable. - Yavira can redirect you to the upstream package for this item. - Health scope: item - Reason: direct_download_ok - Checked at: 2026-05-07T16:09:35.082Z - Expires at: 2026-05-14T16:09:35.082Z - Recommended action: Download for OpenClaw ## Links - [Detail page](https://openagent3.xyz/skills/pangolin-utils) - [Send to Agent page](https://openagent3.xyz/skills/pangolin-utils/agent) - [JSON manifest](https://openagent3.xyz/skills/pangolin-utils/agent.json) - [Markdown brief](https://openagent3.xyz/skills/pangolin-utils/agent.md) - [Download page](https://openagent3.xyz/downloads/pangolin-utils)